Linearized Motion Estimation for Articulated Planes

Ankur Datta, Yaser Ajmal Sheikh, and Takeo Kanade
IEEE Transactions on Pattern Analysis and Machine Intelligence, , May, 2010


Download
  • Adobe portable document format (pdf) (5MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Abstract—In this paper, we describe the explicit application of ar ticulation constraints for estimating the motion of a system of articulated planes. We relate ar ticulations to the relative homography between planes and show that these ar ticulations translate into linearized equality constraints on a linear least squares system, which can be solved efficiently using a Karush-Kuhn-Tucker system. The articulation constraints can be applied for both gradient-based and feature-based motion estimation algorithms and to illustrate we describe a gradient-based motion estimation algorithm for an affine camera and a feature-based motion estimation algorithm for a projective camera that explicitly enforce ar ticulation constraints. We show that explicit application of ar ticulation constraints leads to numerically stable estimates of motion. The simultaneous computation of motion estimates for all the articulated planes in a scene allows us to handle scene areas where there is limited texture information and areas that leave the field of view. Our results demonstrate the wide applicability of the algorithm in a variety of challenging real world cases such as human body tracking, motion estimation of rigid, piecewise planar scenes and motion estimation of triangulated meshes.

Keywords
Registration, Motion, Tracking

Notes

Text Reference
Ankur Datta, Yaser Ajmal Sheikh, and Takeo Kanade, "Linearized Motion Estimation for Articulated Planes," IEEE Transactions on Pattern Analysis and Machine Intelligence, , May, 2010

BibTeX Reference
@article{Datta_2010_6593,
   author = "Ankur Datta and Yaser Ajmal Sheikh and Takeo Kanade",
   editor = "Ramin Zabih",
   title = "Linearized Motion Estimation for Articulated Planes",
   journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence",
   month = "May",
   year = "2010",
}